tinkerforge 2.1.11 → 2.1.12

data/lib/tinkerforge/brick_master.rb

@@ -1,8 +1,8 @@
 # -*- ruby encoding: utf-8 -*-
 #############################################################
-# This file was automatically generated on 2017-01-25.      #
+# This file was automatically generated on 2017-04-21.      #
 #                                                           #
-# Ruby Bindings Version 2.1.11                              #
+# Ruby Bindings Version 2.1.12                              #
 #                                                           #
 # If you have a bugfix for this file and want to commit it, #
 # please fix the bug in the generator. You can find a link  #
@@ -16,31 +16,31 @@ module Tinkerforge
     DEVICE_DISPLAY_NAME = 'Master Brick' # :nodoc:
 
     # This callback is triggered periodically with the period that is set by
-    # BrickMaster#set_stack_current_callback_period. The parameter is the current of the
-    # sensor.
+    # BrickMaster#set_stack_current_callback_period. The parameter is the current
+    # of the sensor.
     # 
-    # CALLBACK_STACK_CURRENT is only triggered if the current has changed since the
-    # last triggering.
+    # The CALLBACK_STACK_CURRENT callback is only triggered if the current has changed
+    # since the last triggering.
     # 
     # .. versionadded:: 2.0.5$nbsp;(Firmware)
     CALLBACK_STACK_CURRENT = 59
 
     # This callback is triggered periodically with the period that is set by
-    # BrickMaster#set_stack_voltage_callback_period. The parameter is the voltage of the
-    # sensor.
+    # BrickMaster#set_stack_voltage_callback_period. The parameter is the voltage
+    # of the sensor.
     # 
-    # CALLBACK_STACK_VOLTAGE is only triggered if the voltage has changed since the
-    # last triggering.
+    # The CALLBACK_STACK_VOLTAGE callback is only triggered if the voltage has changed
+    # since the last triggering.
     # 
     # .. versionadded:: 2.0.5$nbsp;(Firmware)
     CALLBACK_STACK_VOLTAGE = 60
 
     # This callback is triggered periodically with the period that is set by
-    # BrickMaster#set_usb_voltage_callback_period. The parameter is the USB voltage
-    # in mV.
+    # BrickMaster#set_usb_voltage_callback_period. The parameter is the USB
+    # voltage in mV.
     # 
-    # CALLBACK_USB_VOLTAGE is only triggered if the USB voltage has changed since the
-    # last triggering.
+    # The CALLBACK_USB_VOLTAGE callback is only triggered if the USB voltage has changed
+    # since the last triggering.
     # 
     # Does not work with hardware version 2.1.
     # 
@@ -181,6 +181,7 @@ module Tinkerforge
     FUNCTION_GET_WIFI2_MESH_COMMON_STATUS = 108 # :nodoc:
     FUNCTION_GET_WIFI2_MESH_CLIENT_STATUS = 109 # :nodoc:
     FUNCTION_GET_WIFI2_MESH_AP_STATUS = 110 # :nodoc:
+    FUNCTION_GET_SEND_TIMEOUT_COUNT = 233 # :nodoc:
     FUNCTION_ENABLE_STATUS_LED = 238 # :nodoc:
     FUNCTION_DISABLE_STATUS_LED = 239 # :nodoc:
     FUNCTION_IS_STATUS_LED_ENABLED = 240 # :nodoc:
@@ -268,6 +269,14 @@ module Tinkerforge
     WIFI2_MESH_STATUS_AP_AVAILABLE = 5 # :nodoc:
     WIFI2_MESH_STATUS_AP_SETUP = 6 # :nodoc:
     WIFI2_MESH_STATUS_LEAF_AVAILABLE = 7 # :nodoc:
+    COMMUNICATION_METHOD_NONE = 0 # :nodoc:
+    COMMUNICATION_METHOD_USB = 1 # :nodoc:
+    COMMUNICATION_METHOD_SPI_STACK = 2 # :nodoc:
+    COMMUNICATION_METHOD_CHIBI = 3 # :nodoc:
+    COMMUNICATION_METHOD_RS485 = 4 # :nodoc:
+    COMMUNICATION_METHOD_WIFI = 5 # :nodoc:
+    COMMUNICATION_METHOD_ETHERNET = 6 # :nodoc:
+    COMMUNICATION_METHOD_WIFI_V2 = 7 # :nodoc:
 
     # Creates an object with the unique device ID <tt>uid</tt> and adds it to
     # the IP Connection <tt>ipcon</tt>.
@@ -386,6 +395,7 @@ module Tinkerforge
       @response_expected[FUNCTION_GET_WIFI2_MESH_COMMON_STATUS] = RESPONSE_EXPECTED_ALWAYS_TRUE
       @response_expected[FUNCTION_GET_WIFI2_MESH_CLIENT_STATUS] = RESPONSE_EXPECTED_ALWAYS_TRUE
       @response_expected[FUNCTION_GET_WIFI2_MESH_AP_STATUS] = RESPONSE_EXPECTED_ALWAYS_TRUE
+      @response_expected[FUNCTION_GET_SEND_TIMEOUT_COUNT] = RESPONSE_EXPECTED_ALWAYS_TRUE
       @response_expected[FUNCTION_ENABLE_STATUS_LED] = RESPONSE_EXPECTED_FALSE
       @response_expected[FUNCTION_DISABLE_STATUS_LED] = RESPONSE_EXPECTED_FALSE
       @response_expected[FUNCTION_IS_STATUS_LED_ENABLED] = RESPONSE_EXPECTED_ALWAYS_TRUE
@@ -874,8 +884,8 @@ module Tinkerforge
     # Sets the period in ms with which the CALLBACK_STACK_CURRENT callback is triggered
     # periodically. A value of 0 turns the callback off.
     # 
-    # CALLBACK_STACK_CURRENT is only triggered if the current has changed since the
-    # last triggering.
+    # The CALLBACK_STACK_CURRENT callback is only triggered if the current has changed
+    # since the last triggering.
     # 
     # The default value is 0.
     # 
@@ -894,8 +904,8 @@ module Tinkerforge
     # Sets the period in ms with which the CALLBACK_STACK_VOLTAGE callback is triggered
     # periodically. A value of 0 turns the callback off.
     # 
-    # CALLBACK_STACK_VOLTAGE is only triggered if the voltage has changed since the
-    # last triggering.
+    # The CALLBACK_STACK_VOLTAGE callback is only triggered if the voltage has changed
+    # since the last triggering.
     # 
     # The default value is 0.
     # 
@@ -914,8 +924,8 @@ module Tinkerforge
     # Sets the period in ms with which the CALLBACK_USB_VOLTAGE callback is triggered
     # periodically. A value of 0 turns the callback off.
     # 
-    # CALLBACK_USB_VOLTAGE is only triggered if the voltage has changed since the
-    # last triggering.
+    # The CALLBACK_USB_VOLTAGE callback is only triggered if the voltage has changed
+    # since the last triggering.
     # 
     # The default value is 0.
     # 
@@ -1162,7 +1172,8 @@ module Tinkerforge
       send_request(FUNCTION_SET_ETHERNET_AUTHENTICATION_SECRET, [secret], 'Z64', 0, '')
     end
 
-    # Returns the authentication secret as set by BrickMaster#set_ethernet_authentication_secret.
+    # Returns the authentication secret as set by
+    # BrickMaster#set_ethernet_authentication_secret.
     # 
     # .. versionadded:: 2.2.0$nbsp;(Firmware)
     def get_ethernet_authentication_secret
@@ -1187,7 +1198,8 @@ module Tinkerforge
       send_request(FUNCTION_SET_WIFI_AUTHENTICATION_SECRET, [secret], 'Z64', 0, '')
     end
 
-    # Returns the authentication secret as set by BrickMaster#set_wifi_authentication_secret.
+    # Returns the authentication secret as set by
+    # BrickMaster#set_wifi_authentication_secret.
     # 
     # .. versionadded:: 2.2.0$nbsp;(Firmware)
     def get_wifi_authentication_secret
@@ -1645,6 +1657,18 @@ module Tinkerforge
       send_request(FUNCTION_GET_WIFI2_MESH_AP_STATUS, [], '', 50, 'Z32 C4 C4 C4 C6')
     end
 
+    # Returns the timeout count for the different communication methods.
+    # 
+    # The methods 0-2 are available for all Bricks, 3-7 only for Master Bricks.
+    # 
+    # This function is mostly used for debugging during development, in normal operation
+    # the counters should nearly always stay at 0.
+    # 
+    # .. versionadded:: 2.4.3$nbsp;(Firmware)
+    def get_send_timeout_count(communication_method)
+      send_request(FUNCTION_GET_SEND_TIMEOUT_COUNT, [communication_method], 'C', 4, 'L')
+    end
+
     # Enables the status LED.
     # 
     # The status LED is the blue LED next to the USB connector. If enabled is is
@@ -1705,7 +1729,7 @@ module Tinkerforge
       send_request(FUNCTION_RESET, [], '', 0, '')
     end
 
-    # Returns the UID, the UID where the Brick is connected to, 
+    # Returns the UID, the UID where the Brick is connected to,
     # the position, the hardware and firmware version as well as the
     # device identifier.
     # 

data/lib/tinkerforge/brick_red.rb

@@ -1,8 +1,8 @@
 # -*- ruby encoding: utf-8 -*-
 #############################################################
-# This file was automatically generated on 2017-01-25.      #
+# This file was automatically generated on 2017-04-21.      #
 #                                                           #
-# Ruby Bindings Version 2.1.11                              #
+# Ruby Bindings Version 2.1.12                              #
 #                                                           #
 # If you have a bugfix for this file and want to commit it, #
 # please fix the bug in the generator. You can find a link  #
@@ -831,7 +831,7 @@ module Tinkerforge
       send_request(FUNCTION_REMOVE_CUSTOM_PROGRAM_OPTION, [program_id, name_string_id], 'S S', 1, 'C')
     end
 
-    # Returns the UID, the UID where the Brick is connected to, 
+    # Returns the UID, the UID where the Brick is connected to,
     # the position, the hardware and firmware version as well as the
     # device identifier.
     # 

data/lib/tinkerforge/brick_servo.rb

@@ -1,8 +1,8 @@
 # -*- ruby encoding: utf-8 -*-
 #############################################################
-# This file was automatically generated on 2017-01-25.      #
+# This file was automatically generated on 2017-04-21.      #
 #                                                           #
-# Ruby Bindings Version 2.1.11                              #
+# Ruby Bindings Version 2.1.12                              #
 #                                                           #
 # If you have a bugfix for this file and want to commit it, #
 # please fix the bug in the generator. You can find a link  #
@@ -75,6 +75,7 @@ module Tinkerforge
     FUNCTION_ENABLE_VELOCITY_REACHED_CALLBACK = 32 # :nodoc:
     FUNCTION_DISABLE_VELOCITY_REACHED_CALLBACK = 33 # :nodoc:
     FUNCTION_IS_VELOCITY_REACHED_CALLBACK_ENABLED = 34 # :nodoc:
+    FUNCTION_GET_SEND_TIMEOUT_COUNT = 233 # :nodoc:
     FUNCTION_ENABLE_STATUS_LED = 238 # :nodoc:
     FUNCTION_DISABLE_STATUS_LED = 239 # :nodoc:
     FUNCTION_IS_STATUS_LED_ENABLED = 240 # :nodoc:
@@ -83,6 +84,14 @@ module Tinkerforge
     FUNCTION_RESET = 243 # :nodoc:
     FUNCTION_GET_IDENTITY = 255 # :nodoc:
 
+    COMMUNICATION_METHOD_NONE = 0 # :nodoc:
+    COMMUNICATION_METHOD_USB = 1 # :nodoc:
+    COMMUNICATION_METHOD_SPI_STACK = 2 # :nodoc:
+    COMMUNICATION_METHOD_CHIBI = 3 # :nodoc:
+    COMMUNICATION_METHOD_RS485 = 4 # :nodoc:
+    COMMUNICATION_METHOD_WIFI = 5 # :nodoc:
+    COMMUNICATION_METHOD_ETHERNET = 6 # :nodoc:
+    COMMUNICATION_METHOD_WIFI_V2 = 7 # :nodoc:
 
     # Creates an object with the unique device ID <tt>uid</tt> and adds it to
     # the IP Connection <tt>ipcon</tt>.
@@ -125,6 +134,7 @@ module Tinkerforge
       @response_expected[FUNCTION_ENABLE_VELOCITY_REACHED_CALLBACK] = RESPONSE_EXPECTED_TRUE
       @response_expected[FUNCTION_DISABLE_VELOCITY_REACHED_CALLBACK] = RESPONSE_EXPECTED_TRUE
       @response_expected[FUNCTION_IS_VELOCITY_REACHED_CALLBACK_ENABLED] = RESPONSE_EXPECTED_ALWAYS_TRUE
+      @response_expected[FUNCTION_GET_SEND_TIMEOUT_COUNT] = RESPONSE_EXPECTED_ALWAYS_TRUE
       @response_expected[FUNCTION_ENABLE_STATUS_LED] = RESPONSE_EXPECTED_FALSE
       @response_expected[FUNCTION_DISABLE_STATUS_LED] = RESPONSE_EXPECTED_FALSE
       @response_expected[FUNCTION_IS_STATUS_LED_ENABLED] = RESPONSE_EXPECTED_ALWAYS_TRUE
@@ -155,7 +165,7 @@ module Tinkerforge
       send_request(FUNCTION_IS_ENABLED, [servo_num], 'C', 1, '?')
     end
 
-    # Sets the position in °/100 for the specified servo. 
+    # Sets the position in °/100 for the specified servo.
     # 
     # The default range of the position is -9000 to 9000, but it can be specified
     # according to your servo with BrickServo#set_degree.
@@ -212,14 +222,14 @@ module Tinkerforge
       send_request(FUNCTION_SET_ACCELERATION, [servo_num, acceleration], 'C S', 0, '')
     end
 
-    # Returns the acceleration for the specified servo as set by 
+    # Returns the acceleration for the specified servo as set by
     # BrickServo#set_acceleration.
     def get_acceleration(servo_num)
       send_request(FUNCTION_GET_ACCELERATION, [servo_num], 'C', 2, 'S')
     end
 
     # Sets the output voltages with which the servos are driven in mV.
-    # The minimum output voltage is 2000mV and the maximum output voltage is 
+    # The minimum output voltage is 2000mV and the maximum output voltage is
     # 9000mV.
     # 
     # .. note::
@@ -239,7 +249,7 @@ module Tinkerforge
 
     # Sets the minimum and maximum pulse width of the specified servo in µs.
     # 
-    # Usually, servos are controlled with a 
+    # Usually, servos are controlled with a
     # `PWM <https://en.wikipedia.org/wiki/Pulse-width_modulation>`__, whereby the
     # length of the pulse controls the position of the servo. Every servo has
     # different minimum and maximum pulse widths, these can be specified with
@@ -252,7 +262,7 @@ module Tinkerforge
     # Both values have a range from 1 to 65535 (unsigned 16-bit integer). The
     # minimum must be smaller than the maximum.
     # 
-    # The default values are 1000µs (1ms) and 2000µs (2ms) for minimum and 
+    # The default values are 1000µs (1ms) and 2000µs (2ms) for minimum and
     # maximum pulse width.
     def set_pulse_width(servo_num, min, max)
       send_request(FUNCTION_SET_PULSE_WIDTH, [servo_num, min, max], 'C S S', 0, '')
@@ -270,7 +280,7 @@ module Tinkerforge
     # This only specifies the abstract values between which the minimum and maximum
     # pulse width is scaled. For example: If you specify a pulse width of 1000µs
     # to 2000µs and a degree range of -90° to 90°, a call of BrickServo#set_position
-    # with 0 will result in a pulse width of 1500µs 
+    # with 0 will result in a pulse width of 1500µs
     # (-90° = 1000µs, 90° = 2000µs, etc.).
     # 
     # Possible usage:
@@ -290,7 +300,7 @@ module Tinkerforge
     #   control it with a RC brushless motor controller. In this case you can set the
     #   minimum to 0 and the maximum to 10000. BrickServo#set_position now controls the rpm.
     # 
-    # Both values have a possible range from -32767 to 32767 
+    # Both values have a possible range from -32767 to 32767
     # (signed 16-bit integer). The minimum must be smaller than the maximum.
     # 
     # The default values are -9000 and 9000 for the minimum and maximum degree.
@@ -306,15 +316,15 @@ module Tinkerforge
 
     # Sets the period of the specified servo in µs.
     # 
-    # Usually, servos are controlled with a 
+    # Usually, servos are controlled with a
     # `PWM <https://en.wikipedia.org/wiki/Pulse-width_modulation>`__. Different
-    # servos expect PWMs with different periods. Most servos run well with a 
+    # servos expect PWMs with different periods. Most servos run well with a
     # period of about 20ms.
     # 
     # If your servo comes with a datasheet that specifies a period, you should
     # set it accordingly. If you don't have a datasheet and you have no idea
     # what the correct period is, the default value (19.5ms) will most likely
-    # work fine. 
+    # work fine.
     # 
     # The minimum possible period is 1µs and the maximum is 65535µs.
     # 
@@ -339,17 +349,17 @@ module Tinkerforge
     end
 
     # Returns the stack input voltage in mV. The stack input voltage is the
-    # voltage that is supplied via the stack, i.e. it is given by a 
+    # voltage that is supplied via the stack, i.e. it is given by a
     # Step-Down or Step-Up Power Supply.
     def get_stack_input_voltage
       send_request(FUNCTION_GET_STACK_INPUT_VOLTAGE, [], '', 2, 'S')
     end
 
     # Returns the external input voltage in mV. The external input voltage is
-    # given via the black power input connector on the Servo Brick. 
-    #  
+    # given via the black power input connector on the Servo Brick.
+    # 
     # If there is an external input voltage and a stack input voltage, the motors
-    # will be driven by the external input voltage. If there is only a stack 
+    # will be driven by the external input voltage. If there is only a stack
     # voltage present, the motors will be driven by this voltage.
     # 
     # .. warning::
@@ -364,7 +374,7 @@ module Tinkerforge
     # Sets the minimum voltage in mV, below which the CALLBACK_UNDER_VOLTAGE callback
     # is triggered. The minimum possible value that works with the Servo Brick is 5V.
     # You can use this function to detect the discharge of a battery that is used
-    # to drive the stepper motor. If you have a fixed power supply, you likely do 
+    # to drive the stepper motor. If you have a fixed power supply, you likely do
     # not need this functionality.
     # 
     # The default value is 5V (5000mV).
@@ -427,6 +437,18 @@ module Tinkerforge
       send_request(FUNCTION_IS_VELOCITY_REACHED_CALLBACK_ENABLED, [], '', 1, '?')
     end
 
+    # Returns the timeout count for the different communication methods.
+    # 
+    # The methods 0-2 are available for all Bricks, 3-7 only for Master Bricks.
+    # 
+    # This function is mostly used for debugging during development, in normal operation
+    # the counters should nearly always stay at 0.
+    # 
+    # .. versionadded:: 2.3.2$nbsp;(Firmware)
+    def get_send_timeout_count(communication_method)
+      send_request(FUNCTION_GET_SEND_TIMEOUT_COUNT, [communication_method], 'C', 4, 'L')
+    end
+
     # Enables the status LED.
     # 
     # The status LED is the blue LED next to the USB connector. If enabled is is
@@ -487,7 +509,7 @@ module Tinkerforge
       send_request(FUNCTION_RESET, [], '', 0, '')
     end
 
-    # Returns the UID, the UID where the Brick is connected to, 
+    # Returns the UID, the UID where the Brick is connected to,
     # the position, the hardware and firmware version as well as the
     # device identifier.
     # 

data/lib/tinkerforge/brick_silent_stepper.rb

@@ -0,0 +1,829 @@
+# -*- ruby encoding: utf-8 -*-
+#############################################################
+# This file was automatically generated on 2017-04-21.      #
+#                                                           #
+# Ruby Bindings Version 2.1.12                              #
+#                                                           #
+# If you have a bugfix for this file and want to commit it, #
+# please fix the bug in the generator. You can find a link  #
+# to the generators git repository on tinkerforge.com       #
+#############################################################
+
+module Tinkerforge
+  # Silently drives one bipolar stepper motor with up to 46V and 1.6A per phase
+  class BrickSilentStepper < Device
+    DEVICE_IDENTIFIER = 19 # :nodoc:
+    DEVICE_DISPLAY_NAME = 'Silent Stepper Brick' # :nodoc:
+
+    # This callback is triggered when the input voltage drops below the value set by
+    # BrickSilentStepper#set_minimum_voltage. The parameter is the current voltage given
+    # in mV.
+    CALLBACK_UNDER_VOLTAGE = 40
+
+    # This callback is triggered when a position set by BrickSilentStepper#set_steps or
+    # BrickSilentStepper#set_target_position is reached.
+    # 
+    # .. note::
+    #  Since we can't get any feedback from the stepper motor, this only works if the
+    #  acceleration (see BrickSilentStepper#set_speed_ramping) is set smaller or equal to the
+    #  maximum acceleration of the motor. Otherwise the motor will lag behind the
+    #  control value and the callback will be triggered too early.
+    CALLBACK_POSITION_REACHED = 41
+
+    # This callback is triggered periodically with the period that is set by
+    # BrickSilentStepper#set_all_data_period. The parameters are: the current velocity,
+    # the current position, the remaining steps, the stack voltage, the external
+    # voltage and the current consumption of the stepper motor.
+    CALLBACK_ALL_DATA = 47
+
+    # This callback is triggered whenever the Slient Stepper Brick enters a new state.
+    # It returns the new state as well as the previous state.
+    CALLBACK_NEW_STATE = 48
+
+    FUNCTION_SET_MAX_VELOCITY = 1 # :nodoc:
+    FUNCTION_GET_MAX_VELOCITY = 2 # :nodoc:
+    FUNCTION_GET_CURRENT_VELOCITY = 3 # :nodoc:
+    FUNCTION_SET_SPEED_RAMPING = 4 # :nodoc:
+    FUNCTION_GET_SPEED_RAMPING = 5 # :nodoc:
+    FUNCTION_FULL_BRAKE = 6 # :nodoc:
+    FUNCTION_SET_CURRENT_POSITION = 7 # :nodoc:
+    FUNCTION_GET_CURRENT_POSITION = 8 # :nodoc:
+    FUNCTION_SET_TARGET_POSITION = 9 # :nodoc:
+    FUNCTION_GET_TARGET_POSITION = 10 # :nodoc:
+    FUNCTION_SET_STEPS = 11 # :nodoc:
+    FUNCTION_GET_STEPS = 12 # :nodoc:
+    FUNCTION_GET_REMAINING_STEPS = 13 # :nodoc:
+    FUNCTION_SET_STEP_CONFIGURATION = 14 # :nodoc:
+    FUNCTION_GET_STEP_CONFIGURATION = 15 # :nodoc:
+    FUNCTION_DRIVE_FORWARD = 16 # :nodoc:
+    FUNCTION_DRIVE_BACKWARD = 17 # :nodoc:
+    FUNCTION_STOP = 18 # :nodoc:
+    FUNCTION_GET_STACK_INPUT_VOLTAGE = 19 # :nodoc:
+    FUNCTION_GET_EXTERNAL_INPUT_VOLTAGE = 20 # :nodoc:
+    FUNCTION_GET_CURRENT_CONSUMPTION = 21 # :nodoc:
+    FUNCTION_SET_MOTOR_CURRENT = 22 # :nodoc:
+    FUNCTION_GET_MOTOR_CURRENT = 23 # :nodoc:
+    FUNCTION_ENABLE = 24 # :nodoc:
+    FUNCTION_DISABLE = 25 # :nodoc:
+    FUNCTION_IS_ENABLED = 26 # :nodoc:
+    FUNCTION_SET_BASIC_CONFIGURATION = 27 # :nodoc:
+    FUNCTION_GET_BASIC_CONFIGURATION = 28 # :nodoc:
+    FUNCTION_SET_SPREADCYCLE_CONFIGURATION = 29 # :nodoc:
+    FUNCTION_GET_SPREADCYCLE_CONFIGURATION = 30 # :nodoc:
+    FUNCTION_SET_STEALTH_CONFIGURATION = 31 # :nodoc:
+    FUNCTION_GET_STEALTH_CONFIGURATION = 32 # :nodoc:
+    FUNCTION_SET_COOLSTEP_CONFIGURATION = 33 # :nodoc:
+    FUNCTION_GET_COOLSTEP_CONFIGURATION = 34 # :nodoc:
+    FUNCTION_SET_MISC_CONFIGURATION = 35 # :nodoc:
+    FUNCTION_GET_MISC_CONFIGURATION = 36 # :nodoc:
+    FUNCTION_GET_DRIVER_STATUS = 37 # :nodoc:
+    FUNCTION_SET_MINIMUM_VOLTAGE = 38 # :nodoc:
+    FUNCTION_GET_MINIMUM_VOLTAGE = 39 # :nodoc:
+    FUNCTION_SET_TIME_BASE = 42 # :nodoc:
+    FUNCTION_GET_TIME_BASE = 43 # :nodoc:
+    FUNCTION_GET_ALL_DATA = 44 # :nodoc:
+    FUNCTION_SET_ALL_DATA_PERIOD = 45 # :nodoc:
+    FUNCTION_GET_ALL_DATA_PERIOD = 46 # :nodoc:
+    FUNCTION_GET_SEND_TIMEOUT_COUNT = 233 # :nodoc:
+    FUNCTION_ENABLE_STATUS_LED = 238 # :nodoc:
+    FUNCTION_DISABLE_STATUS_LED = 239 # :nodoc:
+    FUNCTION_IS_STATUS_LED_ENABLED = 240 # :nodoc:
+    FUNCTION_GET_PROTOCOL1_BRICKLET_NAME = 241 # :nodoc:
+    FUNCTION_GET_CHIP_TEMPERATURE = 242 # :nodoc:
+    FUNCTION_RESET = 243 # :nodoc:
+    FUNCTION_GET_IDENTITY = 255 # :nodoc:
+
+    STEP_RESOLUTION_1 = 8 # :nodoc:
+    STEP_RESOLUTION_2 = 7 # :nodoc:
+    STEP_RESOLUTION_4 = 6 # :nodoc:
+    STEP_RESOLUTION_8 = 5 # :nodoc:
+    STEP_RESOLUTION_16 = 4 # :nodoc:
+    STEP_RESOLUTION_32 = 3 # :nodoc:
+    STEP_RESOLUTION_64 = 2 # :nodoc:
+    STEP_RESOLUTION_128 = 1 # :nodoc:
+    STEP_RESOLUTION_256 = 0 # :nodoc:
+    CHOPPER_MODE_SPREAD_CYCLE = 0 # :nodoc:
+    CHOPPER_MODE_FAST_DECAY = 1 # :nodoc:
+    FREEWHEEL_MODE_NORMAL = 0 # :nodoc:
+    FREEWHEEL_MODE_FREEWHEELING = 1 # :nodoc:
+    FREEWHEEL_MODE_COIL_SHORT_LS = 2 # :nodoc:
+    FREEWHEEL_MODE_COIL_SHORT_HS = 3 # :nodoc:
+    CURRENT_UP_STEP_INCREMENT_1 = 0 # :nodoc:
+    CURRENT_UP_STEP_INCREMENT_2 = 1 # :nodoc:
+    CURRENT_UP_STEP_INCREMENT_4 = 2 # :nodoc:
+    CURRENT_UP_STEP_INCREMENT_8 = 3 # :nodoc:
+    CURRENT_DOWN_STEP_DECREMENT_1 = 0 # :nodoc:
+    CURRENT_DOWN_STEP_DECREMENT_2 = 1 # :nodoc:
+    CURRENT_DOWN_STEP_DECREMENT_8 = 2 # :nodoc:
+    CURRENT_DOWN_STEP_DECREMENT_32 = 3 # :nodoc:
+    MINIMUM_CURRENT_HALF = 0 # :nodoc:
+    MINIMUM_CURRENT_QUARTER = 1 # :nodoc:
+    STALLGUARD_MODE_STANDARD = 0 # :nodoc:
+    STALLGUARD_MODE_FILTERED = 1 # :nodoc:
+    OPEN_LOAD_NONE = 0 # :nodoc:
+    OPEN_LOAD_PHASE_A = 1 # :nodoc:
+    OPEN_LOAD_PHASE_B = 2 # :nodoc:
+    OPEN_LOAD_PHASE_AB = 3 # :nodoc:
+    SHORT_TO_GROUND_NONE = 0 # :nodoc:
+    SHORT_TO_GROUND_PHASE_A = 1 # :nodoc:
+    SHORT_TO_GROUND_PHASE_B = 2 # :nodoc:
+    SHORT_TO_GROUND_PHASE_AB = 3 # :nodoc:
+    OVER_TEMPERATURE_NONE = 0 # :nodoc:
+    OVER_TEMPERATURE_WARNING = 1 # :nodoc:
+    OVER_TEMPERATURE_LIMIT = 2 # :nodoc:
+    STATE_STOP = 1 # :nodoc:
+    STATE_ACCELERATION = 2 # :nodoc:
+    STATE_RUN = 3 # :nodoc:
+    STATE_DEACCELERATION = 4 # :nodoc:
+    STATE_DIRECTION_CHANGE_TO_FORWARD = 5 # :nodoc:
+    STATE_DIRECTION_CHANGE_TO_BACKWARD = 6 # :nodoc:
+    COMMUNICATION_METHOD_NONE = 0 # :nodoc:
+    COMMUNICATION_METHOD_USB = 1 # :nodoc:
+    COMMUNICATION_METHOD_SPI_STACK = 2 # :nodoc:
+    COMMUNICATION_METHOD_CHIBI = 3 # :nodoc:
+    COMMUNICATION_METHOD_RS485 = 4 # :nodoc:
+    COMMUNICATION_METHOD_WIFI = 5 # :nodoc:
+    COMMUNICATION_METHOD_ETHERNET = 6 # :nodoc:
+    COMMUNICATION_METHOD_WIFI_V2 = 7 # :nodoc:
+
+    # Creates an object with the unique device ID <tt>uid</tt> and adds it to
+    # the IP Connection <tt>ipcon</tt>.
+    def initialize(uid, ipcon)
+      super uid, ipcon
+
+      @api_version = [2, 0, 0]
+
+      @response_expected[FUNCTION_SET_MAX_VELOCITY] = RESPONSE_EXPECTED_FALSE
+      @response_expected[FUNCTION_GET_MAX_VELOCITY] = RESPONSE_EXPECTED_ALWAYS_TRUE
+      @response_expected[FUNCTION_GET_CURRENT_VELOCITY] = RESPONSE_EXPECTED_ALWAYS_TRUE
+      @response_expected[FUNCTION_SET_SPEED_RAMPING] = RESPONSE_EXPECTED_FALSE
+      @response_expected[FUNCTION_GET_SPEED_RAMPING] = RESPONSE_EXPECTED_ALWAYS_TRUE
+      @response_expected[FUNCTION_FULL_BRAKE] = RESPONSE_EXPECTED_FALSE
+      @response_expected[FUNCTION_SET_CURRENT_POSITION] = RESPONSE_EXPECTED_FALSE
+      @response_expected[FUNCTION_GET_CURRENT_POSITION] = RESPONSE_EXPECTED_ALWAYS_TRUE
+      @response_expected[FUNCTION_SET_TARGET_POSITION] = RESPONSE_EXPECTED_FALSE
+      @response_expected[FUNCTION_GET_TARGET_POSITION] = RESPONSE_EXPECTED_ALWAYS_TRUE
+      @response_expected[FUNCTION_SET_STEPS] = RESPONSE_EXPECTED_FALSE
+      @response_expected[FUNCTION_GET_STEPS] = RESPONSE_EXPECTED_ALWAYS_TRUE
+      @response_expected[FUNCTION_GET_REMAINING_STEPS] = RESPONSE_EXPECTED_ALWAYS_TRUE
+      @response_expected[FUNCTION_SET_STEP_CONFIGURATION] = RESPONSE_EXPECTED_FALSE
+      @response_expected[FUNCTION_GET_STEP_CONFIGURATION] = RESPONSE_EXPECTED_ALWAYS_TRUE
+      @response_expected[FUNCTION_DRIVE_FORWARD] = RESPONSE_EXPECTED_FALSE
+      @response_expected[FUNCTION_DRIVE_BACKWARD] = RESPONSE_EXPECTED_FALSE
+      @response_expected[FUNCTION_STOP] = RESPONSE_EXPECTED_FALSE
+      @response_expected[FUNCTION_GET_STACK_INPUT_VOLTAGE] = RESPONSE_EXPECTED_ALWAYS_TRUE
+      @response_expected[FUNCTION_GET_EXTERNAL_INPUT_VOLTAGE] = RESPONSE_EXPECTED_ALWAYS_TRUE
+      @response_expected[FUNCTION_GET_CURRENT_CONSUMPTION] = RESPONSE_EXPECTED_ALWAYS_TRUE
+      @response_expected[FUNCTION_SET_MOTOR_CURRENT] = RESPONSE_EXPECTED_FALSE
+      @response_expected[FUNCTION_GET_MOTOR_CURRENT] = RESPONSE_EXPECTED_ALWAYS_TRUE
+      @response_expected[FUNCTION_ENABLE] = RESPONSE_EXPECTED_FALSE
+      @response_expected[FUNCTION_DISABLE] = RESPONSE_EXPECTED_FALSE
+      @response_expected[FUNCTION_IS_ENABLED] = RESPONSE_EXPECTED_ALWAYS_TRUE
+      @response_expected[FUNCTION_SET_BASIC_CONFIGURATION] = RESPONSE_EXPECTED_FALSE
+      @response_expected[FUNCTION_GET_BASIC_CONFIGURATION] = RESPONSE_EXPECTED_ALWAYS_TRUE
+      @response_expected[FUNCTION_SET_SPREADCYCLE_CONFIGURATION] = RESPONSE_EXPECTED_FALSE
+      @response_expected[FUNCTION_GET_SPREADCYCLE_CONFIGURATION] = RESPONSE_EXPECTED_ALWAYS_TRUE
+      @response_expected[FUNCTION_SET_STEALTH_CONFIGURATION] = RESPONSE_EXPECTED_FALSE
+      @response_expected[FUNCTION_GET_STEALTH_CONFIGURATION] = RESPONSE_EXPECTED_ALWAYS_TRUE
+      @response_expected[FUNCTION_SET_COOLSTEP_CONFIGURATION] = RESPONSE_EXPECTED_FALSE
+      @response_expected[FUNCTION_GET_COOLSTEP_CONFIGURATION] = RESPONSE_EXPECTED_ALWAYS_TRUE
+      @response_expected[FUNCTION_SET_MISC_CONFIGURATION] = RESPONSE_EXPECTED_FALSE
+      @response_expected[FUNCTION_GET_MISC_CONFIGURATION] = RESPONSE_EXPECTED_ALWAYS_TRUE
+      @response_expected[FUNCTION_GET_DRIVER_STATUS] = RESPONSE_EXPECTED_ALWAYS_TRUE
+      @response_expected[FUNCTION_SET_MINIMUM_VOLTAGE] = RESPONSE_EXPECTED_TRUE
+      @response_expected[FUNCTION_GET_MINIMUM_VOLTAGE] = RESPONSE_EXPECTED_ALWAYS_TRUE
+      @response_expected[CALLBACK_UNDER_VOLTAGE] = RESPONSE_EXPECTED_ALWAYS_FALSE
+      @response_expected[CALLBACK_POSITION_REACHED] = RESPONSE_EXPECTED_ALWAYS_FALSE
+      @response_expected[FUNCTION_SET_TIME_BASE] = RESPONSE_EXPECTED_FALSE
+      @response_expected[FUNCTION_GET_TIME_BASE] = RESPONSE_EXPECTED_ALWAYS_TRUE
+      @response_expected[FUNCTION_GET_ALL_DATA] = RESPONSE_EXPECTED_ALWAYS_TRUE
+      @response_expected[FUNCTION_SET_ALL_DATA_PERIOD] = RESPONSE_EXPECTED_TRUE
+      @response_expected[FUNCTION_GET_ALL_DATA_PERIOD] = RESPONSE_EXPECTED_ALWAYS_TRUE
+      @response_expected[CALLBACK_ALL_DATA] = RESPONSE_EXPECTED_ALWAYS_FALSE
+      @response_expected[CALLBACK_NEW_STATE] = RESPONSE_EXPECTED_ALWAYS_FALSE
+      @response_expected[FUNCTION_GET_SEND_TIMEOUT_COUNT] = RESPONSE_EXPECTED_ALWAYS_TRUE
+      @response_expected[FUNCTION_ENABLE_STATUS_LED] = RESPONSE_EXPECTED_FALSE
+      @response_expected[FUNCTION_DISABLE_STATUS_LED] = RESPONSE_EXPECTED_FALSE
+      @response_expected[FUNCTION_IS_STATUS_LED_ENABLED] = RESPONSE_EXPECTED_ALWAYS_TRUE
+      @response_expected[FUNCTION_GET_PROTOCOL1_BRICKLET_NAME] = RESPONSE_EXPECTED_ALWAYS_TRUE
+      @response_expected[FUNCTION_GET_CHIP_TEMPERATURE] = RESPONSE_EXPECTED_ALWAYS_TRUE
+      @response_expected[FUNCTION_RESET] = RESPONSE_EXPECTED_FALSE
+      @response_expected[FUNCTION_GET_IDENTITY] = RESPONSE_EXPECTED_ALWAYS_TRUE
+
+      @callback_formats[CALLBACK_UNDER_VOLTAGE] = 'S'
+      @callback_formats[CALLBACK_POSITION_REACHED] = 'l'
+      @callback_formats[CALLBACK_ALL_DATA] = 'S l l S S S'
+      @callback_formats[CALLBACK_NEW_STATE] = 'C C'
+    end
+
+    # Sets the maximum velocity of the stepper motor in steps per second.
+    # This function does *not* start the motor, it merely sets the maximum
+    # velocity the stepper motor is accelerated to. To get the motor running use
+    # either BrickSilentStepper#set_target_position, BrickSilentStepper#set_steps, BrickSilentStepper#drive_forward or
+    # BrickSilentStepper#drive_backward.
+    def set_max_velocity(velocity)
+      send_request(FUNCTION_SET_MAX_VELOCITY, [velocity], 'S', 0, '')
+    end
+
+    # Returns the velocity as set by BrickSilentStepper#set_max_velocity.
+    def get_max_velocity
+      send_request(FUNCTION_GET_MAX_VELOCITY, [], '', 2, 'S')
+    end
+
+    # Returns the *current* velocity of the stepper motor in steps per second.
+    def get_current_velocity
+      send_request(FUNCTION_GET_CURRENT_VELOCITY, [], '', 2, 'S')
+    end
+
+    # Sets the acceleration and deacceleration of the stepper motor. The values
+    # are given in *steps/s²*. An acceleration of 1000 means, that
+    # every second the velocity is increased by 1000 *steps/s*.
+    # 
+    # For example: If the current velocity is 0 and you want to accelerate to a
+    # velocity of 8000 *steps/s* in 10 seconds, you should set an acceleration
+    # of 800 *steps/s²*.
+    # 
+    # An acceleration/deacceleration of 0 means instantaneous
+    # acceleration/deacceleration (not recommended)
+    # 
+    # The default value is 1000 for both
+    def set_speed_ramping(acceleration, deacceleration)
+      send_request(FUNCTION_SET_SPEED_RAMPING, [acceleration, deacceleration], 'S S', 0, '')
+    end
+
+    # Returns the acceleration and deacceleration as set by
+    # BrickSilentStepper#set_speed_ramping.
+    def get_speed_ramping
+      send_request(FUNCTION_GET_SPEED_RAMPING, [], '', 4, 'S S')
+    end
+
+    # Executes an active full brake.
+    # 
+    # .. warning::
+    #  This function is for emergency purposes,
+    #  where an immediate brake is necessary. Depending on the current velocity and
+    #  the strength of the motor, a full brake can be quite violent.
+    # 
+    # Call BrickSilentStepper#stop if you just want to stop the motor.
+    def full_brake
+      send_request(FUNCTION_FULL_BRAKE, [], '', 0, '')
+    end
+
+    # Sets the current steps of the internal step counter. This can be used to
+    # set the current position to 0 when some kind of starting position
+    # is reached (e.g. when a CNC machine reaches a corner).
+    def set_current_position(position)
+      send_request(FUNCTION_SET_CURRENT_POSITION, [position], 'l', 0, '')
+    end
+
+    # Returns the current position of the stepper motor in steps. On startup
+    # the position is 0. The steps are counted with all possible driving
+    # functions (BrickSilentStepper#set_target_position, BrickSilentStepper#set_steps, BrickSilentStepper#drive_forward or
+    # BrickSilentStepper#drive_backward). It also is possible to reset the steps to 0 or
+    # set them to any other desired value with BrickSilentStepper#set_current_position.
+    def get_current_position
+      send_request(FUNCTION_GET_CURRENT_POSITION, [], '', 4, 'l')
+    end
+
+    # Sets the target position of the stepper motor in steps. For example,
+    # if the current position of the motor is 500 and BrickSilentStepper#set_target_position is
+    # called with 1000, the stepper motor will drive 500 steps forward. It will
+    # use the velocity, acceleration and deacceleration as set by
+    # BrickSilentStepper#set_max_velocity and BrickSilentStepper#set_speed_ramping.
+    # 
+    # A call of BrickSilentStepper#set_target_position with the parameter *x* is equivalent to
+    # a call of BrickSilentStepper#set_steps with the parameter
+    # (*x* - BrickSilentStepper#get_current_position).
+    def set_target_position(position)
+      send_request(FUNCTION_SET_TARGET_POSITION, [position], 'l', 0, '')
+    end
+
+    # Returns the last target position as set by BrickSilentStepper#set_target_position.
+    def get_target_position
+      send_request(FUNCTION_GET_TARGET_POSITION, [], '', 4, 'l')
+    end
+
+    # Sets the number of steps the stepper motor should run. Positive values
+    # will drive the motor forward and negative values backward.
+    # The velocity, acceleration and deacceleration as set by
+    # BrickSilentStepper#set_max_velocity and BrickSilentStepper#set_speed_ramping will be used.
+    def set_steps(steps)
+      send_request(FUNCTION_SET_STEPS, [steps], 'l', 0, '')
+    end
+
+    # Returns the last steps as set by BrickSilentStepper#set_steps.
+    def get_steps
+      send_request(FUNCTION_GET_STEPS, [], '', 4, 'l')
+    end
+
+    # Returns the remaining steps of the last call of BrickSilentStepper#set_steps.
+    # For example, if BrickSilentStepper#set_steps is called with 2000 and
+    # BrickSilentStepper#get_remaining_steps is called after the motor has run for 500 steps,
+    # it will return 1500.
+    def get_remaining_steps
+      send_request(FUNCTION_GET_REMAINING_STEPS, [], '', 4, 'l')
+    end
+
+    # Sets the step resolution from full-step up to 1/256-step.
+    # 
+    # If interpolation is turned on, the Silent Stepper Brick will always interpolate
+    # your step inputs as 1/256-step. If you use full-step mode with interpolation, each
+    # step will generate 256 1/256 steps.
+    # 
+    # For maximum torque use full-step without interpolation. For maximum resolution use
+    # 1/256-step. Turn interpolation on to make the Stepper driving less noisy.
+    # 
+    # If you often change the speed with high acceleration you should turn the
+    # interpolation off.
+    # 
+    # The default is 1/256-step with interpolation on.
+    def set_step_configuration(step_resolution, interpolation)
+      send_request(FUNCTION_SET_STEP_CONFIGURATION, [step_resolution, interpolation], 'C ?', 0, '')
+    end
+
+    # Returns the step mode as set by BrickSilentStepper#set_step_configuration.
+    def get_step_configuration
+      send_request(FUNCTION_GET_STEP_CONFIGURATION, [], '', 2, 'C ?')
+    end
+
+    # Drives the stepper motor forward until BrickSilentStepper#drive_backward or
+    # BrickSilentStepper#stop is called. The velocity, acceleration and deacceleration as
+    # set by BrickSilentStepper#set_max_velocity and BrickSilentStepper#set_speed_ramping will be used.
+    def drive_forward
+      send_request(FUNCTION_DRIVE_FORWARD, [], '', 0, '')
+    end
+
+    # Drives the stepper motor backward until BrickSilentStepper#drive_forward or
+    # BrickSilentStepper#stop is triggered. The velocity, acceleration and deacceleration as
+    # set by BrickSilentStepper#set_max_velocity and BrickSilentStepper#set_speed_ramping will be used.
+    def drive_backward
+      send_request(FUNCTION_DRIVE_BACKWARD, [], '', 0, '')
+    end
+
+    # Stops the stepper motor with the deacceleration as set by
+    # BrickSilentStepper#set_speed_ramping.
+    def stop
+      send_request(FUNCTION_STOP, [], '', 0, '')
+    end
+
+    # Returns the stack input voltage in mV. The stack input voltage is the
+    # voltage that is supplied via the stack, i.e. it is given by a
+    # Step-Down or Step-Up Power Supply.
+    def get_stack_input_voltage
+      send_request(FUNCTION_GET_STACK_INPUT_VOLTAGE, [], '', 2, 'S')
+    end
+
+    # Returns the external input voltage in mV. The external input voltage is
+    # given via the black power input connector on the Slient Stepper Brick.
+    # 
+    # If there is an external input voltage and a stack input voltage, the motor
+    # will be driven by the external input voltage. If there is only a stack
+    # voltage present, the motor will be driven by this voltage.
+    # 
+    # .. warning::
+    #  This means, if you have a high stack voltage and a low external voltage,
+    #  the motor will be driven with the low external voltage. If you then remove
+    #  the external connection, it will immediately be driven by the high
+    #  stack voltage
+    def get_external_input_voltage
+      send_request(FUNCTION_GET_EXTERNAL_INPUT_VOLTAGE, [], '', 2, 'S')
+    end
+
+    # Returns the current consumption of the motor in mA.
+    def get_current_consumption
+      send_request(FUNCTION_GET_CURRENT_CONSUMPTION, [], '', 2, 'S')
+    end
+
+    # Sets the current in mA with which the motor will be driven.
+    # The minimum value is 360mA, the maximum value 1640mA and the
+    # default value is 800mA.
+    # 
+    # .. warning::
+    #  Do not set this value above the specifications of your stepper motor.
+    #  Otherwise it may damage your motor.
+    def set_motor_current(current)
+      send_request(FUNCTION_SET_MOTOR_CURRENT, [current], 'S', 0, '')
+    end
+
+    # Returns the current as set by BrickSilentStepper#set_motor_current.
+    def get_motor_current
+      send_request(FUNCTION_GET_MOTOR_CURRENT, [], '', 2, 'S')
+    end
+
+    # Enables the driver chip. The driver parameters can be configured (maximum velocity,
+    # acceleration, etc) before it is enabled.
+    def enable
+      send_request(FUNCTION_ENABLE, [], '', 0, '')
+    end
+
+    # Disables the driver chip. The configurations are kept (maximum velocity,
+    # acceleration, etc) but the motor is not driven until it is enabled again.
+    def disable
+      send_request(FUNCTION_DISABLE, [], '', 0, '')
+    end
+
+    # Returns *true* if the driver chip is enabled, *false* otherwise.
+    def is_enabled
+      send_request(FUNCTION_IS_ENABLED, [], '', 1, '?')
+    end
+
+    # Sets the basic configuration parameters for the different modes (Stealth, Coolstep, Classic).
+    # 
+    # * Standstill Current: This value can be used to lower the current during stand still. This might
+    #   be reasonable to reduce the heating of the motor and the Brick. When the motor is in standstill 
+    #   the configured motor phase current will be driven until the configured 
+    #   Power Down Time is elapsed. After that the phase current will be reduced to the standstill 
+    #   current. The elapsed time for this reduction can be configured with the Standstill Delay Time.
+    #   The unit is in mA and the maximum allowed value is the configured maximum motor current
+    #   (see BrickSilentStepper#set_motor_current).
+    # 
+    # * Motor Run Current: The value sets the motor current when the motor is running. 
+    #   Use a value of at least one half of the global maximum motor current for a good 
+    #   microstep performance. The unit is in mA and the maximum allowed value is the current 
+    #   motor current. The API maps the entered value to 1/32 ... 32/32 of the maximum
+    #   motor current. This value should be used to change the motor current during motor movement,
+    #   whereas the global maximum motor current should not be changed while the motor is moving
+    #   (see BrickSilentStepper#set_motor_current).
+    # 
+    # * Standstill Delay Time: Controls the duration for motor power down after a motion
+    #   as soon as standstill is detected and the Power Down Time is expired. A high Standstill Delay
+    #   Time results in a smooth transition that avoids motor jerk during power down.
+    #   The value range is 0 to 307ms
+    # 
+    # * Power Down Time: Sets the delay time after a stand still.
+    #   The value range is 0 to 5222ms.
+    # 
+    # * Stealth Threshold: Sets the upper threshold for Stealth mode in steps/s. The value range is
+    #   0-65536 steps/s. If the velocity of the motor goes above this value, Stealth mode is turned
+    #   off. Otherwise it is turned on. In Stealth mode the torque declines with high speed.
+    # 
+    # * Coolstep Threshold: Sets the lower threshold for Coolstep mode in steps/s. The value range is
+    #   0-65536 steps/s. The Coolstep Threshold needs to be above the Stealth Threshold.
+    # 
+    # * Classic Threshold: Sets the lower threshold for classic mode. The value range is
+    #   0-65536 steps/s. In classic mode the stepper becomes more noisy, but the torque is maximized.
+    # 
+    # * High Velocity Shopper Mode: If High Velocity Shopper Mode is enabled, the stepper control
+    #   is optimized to run the stepper motors at high velocities.
+    # 
+    # If you want to use all three thresholds make sure that
+    # Stealth Threshold < Coolstep Threshold < Classic Threshold.
+    # 
+    # The default values are:
+    # 
+    # * Standstill Current: 200
+    # * Motor Run Current: 800
+    # * Standstill Delay Time: 0
+    # * Power Down Time: 1000
+    # * Stealth Threshold: 500
+    # * Coolstep Threshold: 500
+    # * Classic Threshold: 1000
+    # * High Velocity Shopper Mode: false
+    def set_basic_configuration(standstill_current, motor_run_current, standstill_delay_time, power_down_time, stealth_threshold, coolstep_threshold, classic_threshold, high_velocity_chopper_mode)
+      send_request(FUNCTION_SET_BASIC_CONFIGURATION, [standstill_current, motor_run_current, standstill_delay_time, power_down_time, stealth_threshold, coolstep_threshold, classic_threshold, high_velocity_chopper_mode], 'S S S S S S S ?', 0, '')
+    end
+
+    # Returns the configuration as set by BrickSilentStepper#set_basic_configuration.
+    def get_basic_configuration
+      send_request(FUNCTION_GET_BASIC_CONFIGURATION, [], '', 15, 'S S S S S S S ?')
+    end
+
+    # Note: If you don't know what any of this means you can very likely keep all of
+    # the values as default!
+    # 
+    # Sets the Spreadcycle configuration parameters. Spreadcycle is a chopper algorithm which actively
+    # controls the motor current flow. More information can be found in the TMC2130 datasheet on page
+    # 47 (7 spreadCycle and Classic Chopper).
+    # 
+    # * Slow Decay Duration: Controls duration of off time setting of slow decay phase. The value
+    #   range is 0-15. 0 = driver disabled, all bridges off. Use 1 only with Comparator Blank time >= 2.
+    # 
+    # * Enable Random Slow Decay: Set to false to fix chopper off time as set by Slow Decay Duration.
+    #   If you set it to true, Decay Duration is randomly modulated.
+    # 
+    # * Fast Decay Duration: Sets the fast decay duration. The value range is 0-15. This parameters is
+    #   only used if the Chopper Mode is set to Fast Decay.
+    # 
+    # * Hysteresis Start Value: Sets the hysteresis start value. The value range is 0-7. This parameter is
+    #   only used if the Chopper Mode is set to Spread Cycle.
+    # 
+    # * Hysteresis End Value: Sets the hysteresis end value. The value range is -3 to 12. This parameter is
+    #   only used if the Chopper Mode is set to Spread Cycle.
+    # 
+    # * Sine Wave Offset: Sets the sine wave offset. The value range is -3 to 12. This parameters is
+    #   only used if the Chopper Mode is set to Fast Decay. 1/512 of the value becomes added to the absolute
+    #   value of the sine wave.
+    # 
+    # * Chopper Mode: 0 = Spread Cycle, 1 = Fast Decay.
+    # 
+    # * Comparator Blank Time: Sets the blank time of the comparator. Available values are
+    # 
+    #   * 0 = 16 clocks,
+    #   * 1 = 24 clocks,
+    #   * 2 = 36 clocks and
+    #   * 3 = 54 clocks.
+    # 
+    #   A value of 1 or 2 is recommended for most applications.
+    # 
+    # * Fast Decay Without Comparator: If set to true the current comparator usage for termination of the
+    #   fast decay cycle is disabled.
+    # 
+    # The default values are:
+    # 
+    # * Slow Decay Duration: 4
+    # * Enable Random Slow Decay: 0
+    # * Fast Decay Duration: 0
+    # * Hysteresis Start Value: 0
+    # * Hysteresis End Value: 0
+    # * Sine Wave Offset: 0
+    # * Chopper Mode: 0
+    # * Comparator Blank Time: 1
+    # * Fast Decay Without Comparator: false
+    def set_spreadcycle_configuration(slow_decay_duration, enable_random_slow_decay, fast_decay_duration, hysteresis_start_value, hysteresis_end_value, sine_wave_offset, chopper_mode, comparator_blank_time, fast_decay_without_comparator)
+      send_request(FUNCTION_SET_SPREADCYCLE_CONFIGURATION, [slow_decay_duration, enable_random_slow_decay, fast_decay_duration, hysteresis_start_value, hysteresis_end_value, sine_wave_offset, chopper_mode, comparator_blank_time, fast_decay_without_comparator], 'C ? C C c c C C ?', 0, '')
+    end
+
+    # Returns the configuration as set by BrickSilentStepper#set_basic_configuration.
+    def get_spreadcycle_configuration
+      send_request(FUNCTION_GET_SPREADCYCLE_CONFIGURATION, [], '', 9, 'C ? C C c c C C ?')
+    end
+
+    # Note: If you don't know what any of this means you can very likely keep all of
+    # the values as default!
+    # 
+    # Sets the configuration relevant for Stealth mode.
+    # 
+    # * Enable Stealth: If set to true the stealth mode is enabled, if set to false the
+    #   stealth mode is disabled, even if the speed is below the threshold set in BrickSilentStepper#set_basic_configuration.
+    # 
+    # * Amplitude: If autoscale is disabled, the PWM amplitude is scaled by this value. If autoscale is enabled,
+    #   this value defines the maximum PWM amplitude change per half wave. The value range is 0-255.
+    # 
+    # * Gradient: If autoscale is disabled, the PWM gradient is scaled by this value. If autoscale is enabled,
+    #   this value defines the maximum PWM gradient. With autoscale a value above 64 is recommended,
+    #   otherwise the regulation might not be able to measure the current. The value range is 0-255.
+    # 
+    # * Enable Autoscale: If set to true, automatic current control is used. Otherwise the user defined
+    #   amplitude and gradient are used.
+    # 
+    # * Force Symmetric: If true, A symmetric PWM cycle is enforced. Otherwise the PWM value may change within each
+    #   PWM cycle.
+    # 
+    # * Freewheel Mode: The freewheel mode defines the behavior in stand still if the Standstill Current
+    #   (see BrickSilentStepper#set_basic_configuration) is set to 0.
+    # 
+    # The default values are:
+    # 
+    # * Enable Stealth: true
+    # * Amplitude: 128
+    # * Gradient: 4
+    # * Enable Autoscale: true
+    # * Force Symmetric: false
+    # * Freewheel Mode: 0 (Normal)
+    def set_stealth_configuration(enable_stealth, amplitude, gradient, enable_autoscale, force_symmetric, freewheel_mode)
+      send_request(FUNCTION_SET_STEALTH_CONFIGURATION, [enable_stealth, amplitude, gradient, enable_autoscale, force_symmetric, freewheel_mode], '? C C ? ? C', 0, '')
+    end
+
+    # Returns the configuration as set by BrickSilentStepper#set_stealth_configuration.
+    def get_stealth_configuration
+      send_request(FUNCTION_GET_STEALTH_CONFIGURATION, [], '', 6, '? C C ? ? C')
+    end
+
+    # Note: If you don't know what any of this means you can very likely keep all of
+    # the values as default!
+    # 
+    # Sets the configuration relevant for Coolstep.
+    # 
+    # * Minimum Stallguard Value: If the Stallguard result falls below this value*32, the motor current
+    #   is increased to reduce motor load angle. The value range is 0-15. A value of 0 turns Coolstep off.
+    # 
+    # * Maximum Stallguard Value: If the Stallguard result goes above
+    #   (Min Stallguard Value + Max Stallguard Value + 1) * 32, the motor current is decreased to save
+    #   energy.
+    # 
+    # * Current Up Step Width: Sets the up step increment per Stallguard value. The value range is 0-3,
+    #   corresponding to the increments 1, 2, 4 and 8.
+    # 
+    # * Current Down Step Width: Sets the down step decrement per Stallguard value. The value range is 0-3,
+    #   corresponding to the decrements 1, 2, 8 and 16.
+    # 
+    # * Minimum Current: Sets the minimum current for Coolstep current control. You can choose between
+    #   half and quarter of the run current.
+    # 
+    # * Stallguard Threshold Value: Sets the level for stall output (see BrickSilentStepper#get_driver_status). The value
+    #   range is -64 to +63. A lower value gives a higher sensitivity. You have to find a suitable value for your
+    #   motor by trial and error, 0 works for most motors.
+    # 
+    # * Stallguard Mode: Set to 0 for standard resolution or 1 for filtered mode. In filtered mode the Stallguard
+    #   signal will be updated every four full-steps.
+    # 
+    # The default values are:
+    # 
+    # * Minimum Stallguard Value: 2
+    # * Maximum Stallguard Value: 10
+    # * Current Up Step Width: 0
+    # * Current Down Step Width: 0
+    # * Minimum Current: 0
+    # * Stallguard Threshold Value: 0
+    # * Stallguard Mode: 0
+    def set_coolstep_configuration(minimum_stallguard_value, maximum_stallguard_value, current_up_step_width, current_down_step_width, minimum_current, stallguard_threshold_value, stallguard_mode)
+      send_request(FUNCTION_SET_COOLSTEP_CONFIGURATION, [minimum_stallguard_value, maximum_stallguard_value, current_up_step_width, current_down_step_width, minimum_current, stallguard_threshold_value, stallguard_mode], 'C C C C C c C', 0, '')
+    end
+
+    # Returns the configuration as set by BrickSilentStepper#set_coolstep_configuration.
+    def get_coolstep_configuration
+      send_request(FUNCTION_GET_COOLSTEP_CONFIGURATION, [], '', 7, 'C C C C C c C')
+    end
+
+    # Note: If you don't know what any of this means you can very likely keep all of
+    # the values as default!
+    # 
+    # Sets miscellaneous configuration parameters.
+    # 
+    # * Disable Short To Ground Protection: Set to false to enable short to ground protection, otherwise
+    #   it is disabled.
+    # 
+    # * Synchronize Phase Frequency: With this parameter you can synchronize the chopper for both phases
+    #   of a two phase motor to avoid the occurrence of a beat. The value range is 0-15. If set to 0,
+    #   the synchronization is turned off. Otherwise the synchronization is done through the formula
+    #   f_sync = f_clk/(value*64). In Classic Mode the synchronization is automatically switched off.
+    #   f_clk is 12.8MHz.
+    # 
+    # The default values are:
+    # 
+    # * Disable Short To Ground Protection: 0
+    # * Synchronize Phase Frequency: 0
+    def set_misc_configuration(disable_short_to_ground_protection, synchronize_phase_frequency)
+      send_request(FUNCTION_SET_MISC_CONFIGURATION, [disable_short_to_ground_protection, synchronize_phase_frequency], '? C', 0, '')
+    end
+
+    # Returns the configuration as set by BrickSilentStepper#set_misc_configuration.
+    def get_misc_configuration
+      send_request(FUNCTION_GET_MISC_CONFIGURATION, [], '', 2, '? C')
+    end
+
+    # Returns the current driver status.
+    # 
+    # * Open Load: Indicates if an open load is present on phase A, B or both. This could mean that there is a problem
+    #   with the wiring of the motor. False detection can occur in fast motion as well as during stand still.
+    # 
+    # * Short To Ground: Indicates if a short to ground is present on phase A, B or both. If this is detected the driver
+    #   automatically becomes disabled and stays disabled until it is enabled again manually.
+    # 
+    # * Over Temperature: The over temperature indicator switches to "Warning" if the driver IC warms up. The warning flag
+    #   is expected during long duration stepper uses. If the temperature limit is reached the indicator switches
+    #   to "Limit". In this case the driver becomes disabled until it cools down again.
+    # 
+    # * Motor Stalled: Is true if a motor stall was detected.
+    # 
+    # * Actual Motor Current: Indicates the actual current control scaling as used in Coolstep mode.
+    # 
+    # * Stallguard Result: Indicates the load of the motor. A lower value signals a higher load. Per trial and error
+    #   you can find out which value corresponds to a suitable torque for the velocity used in your application.
+    #   After that you can use this threshold value to find out if a motor stall becomes probable and react on it (e.g.
+    #   decrease velocity).
+    #   During stand still this value can not be used for stall detection, it shows the chopper on-time for motor coil A.
+    # 
+    # * Stealth Voltage Amplitude: Shows the actual PWM scaling. In Stealth mode it can be used to detect motor load and
+    #   stall if autoscale is enabled (see BrickSilentStepper#set_stealth_configuration).
+    def get_driver_status
+      send_request(FUNCTION_GET_DRIVER_STATUS, [], '', 8, 'C C C ? C ? C C')
+    end
+
+    # Sets the minimum voltage in mV, below which the CALLBACK_UNDER_VOLTAGE callback
+    # is triggered. The minimum possible value that works with the Slient Stepper
+    # Brick is 8V.
+    # You can use this function to detect the discharge of a battery that is used
+    # to drive the stepper motor. If you have a fixed power supply, you likely do
+    # not need this functionality.
+    # 
+    # The default value is 8V.
+    def set_minimum_voltage(voltage)
+      send_request(FUNCTION_SET_MINIMUM_VOLTAGE, [voltage], 'S', 0, '')
+    end
+
+    # Returns the minimum voltage as set by BrickSilentStepper#set_minimum_voltage.
+    def get_minimum_voltage
+      send_request(FUNCTION_GET_MINIMUM_VOLTAGE, [], '', 2, 'S')
+    end
+
+    # Sets the time base of the velocity and the acceleration of the Silent Stepper
+    # Brick (in seconds).
+    # 
+    # For example, if you want to make one step every 1.5 seconds, you can set
+    # the time base to 15 and the velocity to 10. Now the velocity is
+    # 10steps/15s = 1steps/1.5s.
+    # 
+    # The default value is 1.
+    def set_time_base(time_base)
+      send_request(FUNCTION_SET_TIME_BASE, [time_base], 'L', 0, '')
+    end
+
+    # Returns the time base as set by BrickSilentStepper#set_time_base.
+    def get_time_base
+      send_request(FUNCTION_GET_TIME_BASE, [], '', 4, 'L')
+    end
+
+    # Returns the following parameters: The current velocity,
+    # the current position, the remaining steps, the stack voltage, the external
+    # voltage and the current consumption of the stepper motor.
+    # 
+    # There is also a callback for this function, see CALLBACK_ALL_DATA callback.
+    def get_all_data
+      send_request(FUNCTION_GET_ALL_DATA, [], '', 16, 'S l l S S S')
+    end
+
+    # Sets the period in ms with which the CALLBACK_ALL_DATA callback is triggered
+    # periodically. A value of 0 turns the callback off.
+    def set_all_data_period(period)
+      send_request(FUNCTION_SET_ALL_DATA_PERIOD, [period], 'L', 0, '')
+    end
+
+    # Returns the period as set by BrickSilentStepper#set_all_data_period.
+    def get_all_data_period
+      send_request(FUNCTION_GET_ALL_DATA_PERIOD, [], '', 4, 'L')
+    end
+
+    # Returns the timeout count for the different communication methods.
+    # 
+    # The methods 0-2 are available for all Bricks, 3-7 only for Master Bricks.
+    # 
+    # This function is mostly used for debugging during development, in normal operation
+    # the counters should nearly always stay at 0.
+    def get_send_timeout_count(communication_method)
+      send_request(FUNCTION_GET_SEND_TIMEOUT_COUNT, [communication_method], 'C', 4, 'L')
+    end
+
+    # Enables the status LED.
+    # 
+    # The status LED is the blue LED next to the USB connector. If enabled is is
+    # on and it flickers if data is transfered. If disabled it is always off.
+    # 
+    # The default state is enabled.
+    def enable_status_led
+      send_request(FUNCTION_ENABLE_STATUS_LED, [], '', 0, '')
+    end
+
+    # Disables the status LED.
+    # 
+    # The status LED is the blue LED next to the USB connector. If enabled is is
+    # on and it flickers if data is transfered. If disabled it is always off.
+    # 
+    # The default state is enabled.
+    def disable_status_led
+      send_request(FUNCTION_DISABLE_STATUS_LED, [], '', 0, '')
+    end
+
+    # Returns *true* if the status LED is enabled, *false* otherwise.
+    def is_status_led_enabled
+      send_request(FUNCTION_IS_STATUS_LED_ENABLED, [], '', 1, '?')
+    end
+
+    # Returns the firmware and protocol version and the name of the Bricklet for a
+    # given port.
+    # 
+    # This functions sole purpose is to allow automatic flashing of v1.x.y Bricklet
+    # plugins.
+    def get_protocol1_bricklet_name(port)
+      send_request(FUNCTION_GET_PROTOCOL1_BRICKLET_NAME, [port], 'k', 44, 'C C3 Z40')
+    end
+
+    # Returns the temperature in °C/10 as measured inside the microcontroller. The
+    # value returned is not the ambient temperature!
+    # 
+    # The temperature is only proportional to the real temperature and it has an
+    # accuracy of +-15%. Practically it is only useful as an indicator for
+    # temperature changes.
+    def get_chip_temperature
+      send_request(FUNCTION_GET_CHIP_TEMPERATURE, [], '', 2, 's')
+    end
+
+    # Calling this function will reset the Brick. Calling this function
+    # on a Brick inside of a stack will reset the whole stack.
+    # 
+    # After a reset you have to create new device objects,
+    # calling functions on the existing ones will result in
+    # undefined behavior!
+    def reset
+      send_request(FUNCTION_RESET, [], '', 0, '')
+    end
+
+    # Returns the UID, the UID where the Brick is connected to,
+    # the position, the hardware and firmware version as well as the
+    # device identifier.
+    # 
+    # The position can be '0'-'8' (stack position).
+    # 
+    # The device identifier numbers can be found :ref:`here <device_identifier>`.
+    # |device_identifier_constant|
+    def get_identity
+      send_request(FUNCTION_GET_IDENTITY, [], '', 25, 'Z8 Z8 k C3 C3 S')
+    end
+
+    # Registers a callback with ID <tt>id</tt> to the block <tt>block</tt>.
+    def register_callback(id, &block)
+      callback = block
+      @registered_callbacks[id] = callback
+    end
+  end
+end